Autonomous underwater vehicle and system for recovering such an underwater vehicle

ABSTRACT

An underwater vehicle includes a hull extending along a main longitudinal axis and at least one first pincer member disposed towards a forward end of the hull, characterized in that it further includes a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, the first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the respective cables.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. §119 to French Patent Application No. 2202267, filed on Mar. 15, 2022, in the French Intellectual Property Office, the disclosure of which is incorporated by reference herein in its entirety.

Field

The present disclosure relates to autonomous underwater vehicles, also known by the acronym thereof, AUV, and to systems for recovering such underwater vehicles.

Brief Description of Related Developments

Different systems are known for putting autonomous underwater vehicles, referred to as AUVs, in the water and for recovering them.

In a first example, the AUV may comprise a fastening mechanism located on a forward end of the AUV, which fastening mechanism is able to cooperate with a cable attached to a winch mounted on a ship.

The winch can be actuated so as to wind in the cable to bring the AUV towards the ship, and to remove it from the water.

To lift the AUV on board the ship, the recovery system may be provided with a ramp movably mounted on the ship.

In this case, the AUV is brought into immediate proximity with the ramp then hoisted aboard the ship.

Alternatively, the recovery system may be provided with a cage.

In this case, the AUV is introduced into the cage and this combination is hoisted onto the ship by means of winches.

In a second example, an AUV may comprise fastening parts, in particular rings, located on an upper part of the AUV and which are able to cooperate with cables or arms of a crane or of a davit on board the ship.

In this case, to recover the AUV it is generally necessary for men to enter the water to fasten the cables or the arms with the rings.

SUMMARY

The disclosure is directed to providing an autonomous underwater vehicle that is particularly simple and convenient to recover.

According to a first aspect, the disclosure is thus directed to an autonomous underwater vehicle comprising a hull extending along a main longitudinal axis and a first pincer member disposed towards a forward end of the underwater vehicle hull, characterized in that it comprises a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, said first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the cables.

Such a vehicle, through utilization of its pincer members and guide and detection members, can thus be removed from the water autonomously, through utilization of cables of a reception platform disposed out of the water, for example on a ship or on the wharf of a harbor.

When the pincer members of the vehicle are engaged with the cables of the reception platform, the recovery of the vehicle is carried out by reducing the length of the cables deployed for example by means of a winch mechanism.

Although it is fully immersed in the water, such a vehicle can thus be recovered in particular thanks to the detection member which is configured to detect the cables deployed for the recovery of the vehicle, then by the guide member which is configured to guide the vehicle in order for the pincer members to come into engagement with the cables.

Other features of the vehicle according to the disclosure that are particularly simple and convenient are described below.

The guide member may comprise a control unit configured to receive output signals from the detection member and to actuate the guide member to guide the vehicle towards the cables detected by the detection member, and also to actuate the first and second pincer members individually according to the guidance of the vehicle.

The autonomous vehicle comprises a control unit configured to control and synchronize the action of the detection member and of the guide member so as to ensure that the pincer members properly come into engagement with the recovery cables.

The autonomous underwater vehicle may comprise a boom disposed projecting from the forward end of the hull of the vehicle, said boom being movable and controllable through utilization of the guide member between a first port position and a second starboard position and configured to guide at least one of the cables.

Thus, according to an angular position adjustable between two extreme positions to port and to starboard, the boom makes it possible to shunt a cable detected by the detection member, to one side or the other of the main longitudinal axis.

Such a boom makes it possible to ensure which side the cable will pass and to facilitate the guidance of the vehicle.

The first pincer member may be associated with a first additional pincer member, forming a first pair of pincer members, said first additional pincer member being disposed towards the forward end of the hull, the first pincer member and the first additional pincer member being disposed on opposite sides of the longitudinal axis.

Furthermore, the second pincer member may be associated with a second additional pincer member, forming a second pair of pincer members, said second additional pincer member being disposed towards the aft end of the hull, the second pincer member and the second additional pincer member being disposed on opposite sides of the longitudinal axis.

The guide member may be configured such that at least one of the first pincer member and the first additional pincer member, and respectively the at least one of the second pincer member and the second additional pincer member, come into engagement with one of the respective cables.

This enables stable towing on opposite sides of the longitudinal axis of the vehicle such that the risks linked to instability during towing are reduced.

This furthermore simplifies the guiding of the vehicle once the cables have been detected.

As a matter of fact, since the pincer members are present to port and to starboard, the vehicle can navigate towards the cables without necessarily performing a particular maneuver in order for the cables to pass to a predetermined side. Only the attachment of the second cable could require a more precise maneuver to ensure that it passes on the opposite side to that on which the first cable passed.

The detection member may furthermore comprise a frontward sonar device disposed towards the forward end of the hull and configured to detect a cable upstream of the forward end of the hull of the vehicle.

When navigating, such a sonar device makes it possible to identify immersed recovery cables. According to the direction in which the cables have been detected by the sonar device, the guide member then guides the vehicle in their direction, preferably aligned with them, to enable the pincer members to cooperate with the recovery cables.

The detection member may comprise at least one cable detector disposed near the first pincer member and configured to detect a cable near one of the first and second lateral parts of the hull, towards its forward end.

According to a second aspect, the disclosure also relates to a recovery system comprising an autonomous underwater vehicle as described above and a reception platform which comprises a first cable and a second cable each having, at a free end, a retaining member, a winch member configured to wind in and out the first cable and the second cable, said first and second pincer members being configured to come into engagement with said first and second cables and cooperate with the retaining members.

Such a recovery system makes it possible, through the cooperation of the retaining cables and members and the actuation of the winch mechanism, to reduce than length of the cables and to take the autonomous underwater vehicle out of the water, to place it on a reception platform.

The reception platform may comprise a second control unit configured to actuate the winch mechanism.

The reception platform and the underwater vehicle may each comprise a communication unit configured to synchronize the actuation of the detection and guiding members and the actuation of the winch mechanism.

Such a recovery system may thus be automated. The communication between the reception platform and the submarine vehicle makes it possible to synchronize the control units in order to ensure that the pincer members are closed around the recovery cables, this being before the winch mechanism is actuated to reduce the length of the cable and thus remove the AUV from the water.

The reception platform may be carried on the ship.

According to a third aspect, the disclosure also relates to a method of recovering an autonomous underwater vehicle through utilization of a recovery system as described above, comprising the following navigation steps:

-   detecting, through utilization of the detection member, the at least     one of the first cable and of the second cable of the reception     platform; -   guiding the underwater vehicle, through utilization of the guide     member, towards the first cable in alignment with the first cable     and the second cable so as to convey the first cable along one of     the first and second lateral parts of the hull of the vehicle; -   actuating each one of the first pincer member and the second pincer     member into open position; -   guiding the underwater vehicle, through utilization of the guide     member, towards the second cable so as to convey the second cable     along the other lateral part of the hull of the vehicle, such that     the first cable becomes accommodated in the second pincer member     which is open and such that the second cable becomes accommodated in     the first pincer member which is open; -   actuating each one of the first pincer member and the second pincer     member into closed position; -   actuating the winch mechanism to wind in the cables such that the     retaining members come to bear against the first and second pincer     members.

The method may, when guiding towards the first cable, comprise the step of guiding the underwater vehicle through utilization of the guide member to convey the first cable along the second lateral part of the hull on an opposite side to the first lateral part of the hull on which is disposed the first pincer member; and when guiding towards the second cable, the step of guiding the underwater vehicle through utilization of the guide member to convey the second cable near to the first pincer member.

When the recovery system comprises a first pincer member associated with a first additional pincer member, forming a first pair of pincer members, said first additional pincer member being disposed towards the forward end of the hull, the first pincer member and the first additional pincer member being disposed on opposite sides of the longitudinal axis, a second pincer member associated with a second additional pincer member, forming a second pair of pincer members, said second additional pincer member being disposed towards the aft end of the hull, the second pincer member and the second additional pincer member being disposed on opposite sides of the longitudinal axis, the guide member being configured such that at least one of the first pincer member and the first additional pincer member, and respectively the at least one second pincer member and the second additional pincer member, come into engagement with one of the cables, the method may comprise the steps of:

-   actuating the first pair of pincer members of the underwater vehicle     into closed position, before detecting the cables; -   when guiding towards the first cable, detecting the presence of the     first cable near one of the first and second lateral parts of the     hull; -   when actuating the first and second pincer members into open     position, actuating the first and second additional pincer members     of the submarine vehicle into open position; -   when guiding towards the second cable, guiding the underwater     vehicle through utilization of the guide member to convey the other     cable near the pincer member of the first pair of pincer members     disposed on the lateral part near which the first cable has not been     detected. -   when actuating the first and second pincer members into closed     position, actuating the first and second additional pincer members     of the submarine vehicle into closed position;

The guide member may comprise a boom disposed projecting towards the forward end of the hull of the vehicle, said boom being movable between a first port position and a second starboard position and configured to guide at least one of the cables and the method comprises the steps of:

-   when guiding towards the first cable, guiding the underwater vehicle     through utilization of the guide member to actuate the boom to move     the first cable towards the second lateral part; -   when guiding towards the second cable, guiding the underwater     vehicle, through utilization of the guide member, to actuate the     boom to move the second cable towards the first lateral part.

The guide member may comprise a boom disposed projecting towards the forward end of the hull of the vehicle, said boom being movable between a first port position and a second starboard position and configured to guide at least one of the cables and the method comprises the steps of:

-   when guiding towards the second cable, guiding the underwater     vehicle through utilization of the guide member to actuate the boom     to move the second cable towards the lateral part near which the     first cable has not been detected; -   detecting, through utilization of the detection member, a recovery     cable of the reception platform; -   actuating the pincer member of the underwater vehicle from the     closed position towards the open position of the pincer member; -   guiding the underwater vehicle through utilization of the guide     member towards the recovery cable in order for the recovery cable to     become accommodated in the open pincer member; -   actuating the pincer member of the underwater vehicle from the open     position towards the closed position; -   actuating the winch mechanism to raise the underwater vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure, according to an example embodiment, will be properly understood and its advantages will be clearer on reading the following detailed description, given by way of illustrative example that is in no way limiting, with reference to the accompanying drawings.

FIG. 1 is a top view diagrammatically representing an autonomous underwater vehicle, also referred to as AUV, in accordance with the disclosure.

FIG. 2 is a side view diagrammatically representing the AUV of FIG. 1 .

FIG. 3 is a side view diagrammatically representing a ship provided with a reception platform for receiving an AUV according to FIGS. 1 and 2 and thus forming a recovery system in accordance with the disclosure.

FIG. 4 is a side view diagrammatically representing the recovery system formed by the ship of FIG. 3 and the AUV of FIGS. 1 and 2 , in a first configuration.

FIG. 5 is a similar view to FIG. 4 , viewed from behind.

FIG. 6 is a similar view to FIG. 4 , the system being in a second configuration.

FIG. 7 is a similar view to FIG. 6 , viewed from behind.

DETAILED DESCRIPTION

Identical parts represented in the aforementioned figures are identified by identical numerical references in the description that follows.

The disclosure finds application in the field of autonomous underwater vehicles known under the term AUV, as pointed out above.

In general, AUVs are used to perform various operations at sea, for example such as monitoring operations.

For this, the autonomous underwater vehicles are launched from a ship, for example such as boats of USV type, USV being the initials for “Unmanned Surface Vessel”, and navigate entirely immersed in water in a nominal position.

Once the operations have terminated, the AUV is recovered and raised onto the ship.

An example of an autonomous underwater vehicle 100 able to navigate at sea is illustrated in FIGS. 1 and 2 .

Below in the description, the terms autonomous underwater vehicle and AUV are used in the same way to designate the autonomous underwater vehicle.

The AUV 100 comprises a hull 160, which may or may not be cylindrical.

As a variant, the vehicle could be of any other shape.

This hull 160 extends along a main longitudinal axis 150.

The AUV 100 comprises a nose 120 at a forward end and a tail 110 at an aft end which is an opposite end to the forward end.

The AUV 100 further comprises a propulsion system 170, for example such as propeller propulsors, at the location of the tail 110.

In the illustrated example, the main longitudinal axis 150 passes through the nose 120 of the AUV 100 and through the propulsion system 170.

The AUV 100 is illustrated in FIGS. 1 and 2 in nominal navigation position, in which the main longitudinal axis 150 is substantially parallel to the horizontal axis.

Below in the description, by horizontal plane is meant a plane having an orientation parallel to the horizon.

In the nominal navigation position, the hull 160 comprises an upper part 160 a that faces the surface of the sea when the AUV 100 is immersed in the sea, and a lower part 160 b that faces the sea bed when the AUV 100 is immersed in the sea.

The hull 160 further comprises lateral parts, including a first lateral part 160 c and a second lateral part 160 d.

In order to enable its recovery, the AUV 100 comprises, towards its nose 120, a pair of first pincer members 132 a and 132 b, and, towards its tail 110, a pair of second pincer members 130 a and 130 b.

A first pincer member 132 a and a second pincer member 130 a are disposed on the first lateral part 160 c, to port, while another first pincer 132 a, referred to as additional pincer member, and another second pincer member 130 a, referred to as second additional pincer member, are disposed on the second lateral part 160 d of the hull 160, to starboard.

The first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b are configured to take two positions, which are a closed position and an open position, in order to take hold of an item at sea.

In the illustrated example, the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b each comprise an appendage mounted in articulated manner on a respective first or second lateral part 160 c and 160 d, which is rotatably mounted around an axis at a right angle to the longitudinal axis 150.

Each of the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b is then movable between an open position in which a free end of the pincer members is located at a distance from the hull 160, and a closed position in which the appendage is substantially parallel with or aligned with a portion of the hull 160 of the AUV 100.

For example, in open position, the appendage forms an angle comprised between 40° and 80° with the hull 160.

As a variant, at least one of the first and second pincer members and additional pincer members may comprise two appendages rotatably mounted and configured to define the two positions, open and closed. In open position, the pincer member defines an open space, delimited laterally by appendages of the pincer member. In closed position, the pincer member no longer delimits an open space, or a restricted open space.

In the illustrated example, the first and second pincer members and additional pincer members of the pairs of pincer members 130 a, 130 b and 132 a, 132 b are arranged symmetrically relative to the longitudinal axis 150 of the hull 160 of the AUV 100.

As a variant, the pincer members of the pairs of pincer members are not symmetrical relative to the longitudinal axis and/or the AUV may comprise only a first pincer member disposed on a first lateral part towards the first end of the AUV and a second pincer member disposed on a second lateral part towards the second end of the AUV. For example, the first pincer member may be disposed on the port lateral part towards the forward end of the AUV and the second pincer member may be disposed on the starboard lateral part towards the aft end of the AUV.

In the illustrated example, the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b may be actuated and controlled through utilization of a first control unit (not shown) of the AUV 100.

The first and second pincer members and additional pincer members 130 a, 130, 132 a, 132 may be actuated and controlled so as to recover the AUV 100 via recovery cables coming into engagement in the first and second pincer members and additional pincer members (see below).

The AUV 100 further comprises a detection member configured to detect recovery cables present in the environment in which the AUV 100 moves.

The detection member here comprises a frontward sonar device 140 disposed towards a forward end of the AUV 100, for example on the nose 120.

The sonar device 140 is configured to detect objects under water indicating their direction and their distance relative to the AUV 100.

The positioning of the sonar device 140 towards a forward end makes it possible in particular to detect cables upstream of the forward end.

Furthermore, the detection member comprises cable detectors 136 a and 136 b positioned near the first pincer member and additional pincer member 132 a and 132 b of the first pair of pincer members and disposed on opposite sides of the longitudinal axis 150.

These cable detectors 136 a and 136 b are for determining whether a cable is present or not in or near the first pincer member and additional pincer member 132 a and 132 b.

In other words, the cable detectors 136 a and 136 b make it possible to detect a cable near one of the first and second lateral parts 160 c, 160 d of the hull 160, this being towards the forward end of the hull 160.

In a variant in which there is only a first pincer member and a second pincer member, the AUV may comprise one or two cable detectors, disposed on opposite sides of the longitudinal axis.

For example, the cable detectors 136 a and 136 b are chosen from a load sensor or force detector, or a camera.

Optionally, the AUV may furthermore comprise a guide member configured to facilitate engaging the recovery cables in the pincer members.

This guide member may in particular comprise a first control unit configured to guide the AUV according to the information received from the detection member. The control unit may be the same as that which controls the opening and closing of the pincer members.

In other words, the first control unit is configured to receive output signals from the detection member, to actuate the guide member to guide the vehicle towards the cables detected by the detection member, and to actuate the pincer members individually according to the guidance of the vehicle.

The first control unit is connected to that detection member and is configured to process signals coming from the sonar device and to detect the position of the recovery cables.

The first control unit is furthermore configured to process the signals coming from the cable detectors 136 a and 136 b so as to govern the opening and the closing of the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b.

As a variant, the guide member may comprise a boom disposed towards the forward end of the AUV and projecting from the hull. For example, the boom may be located at the nose.

The boom may be an appendage mounted in articulated manner on the end of the nose, that can be actuated through utilization of the first control unit. The boom may be movable between two extreme positions, which are a port position and a starboard position,

The boom may be configured to guide a cable present at distance that can be reached by the boom. The boom, which can be actuated by the first control unit, can thus be governed so as to ensure that the cable passes to port or to starboard of the AUV.

The AUV 100 further comprises a communication unit 134 configured to exchange information with a reception platform so as to synchronize actions between the AUV and that reception platform.

In particular, through utilization of this communication unit 134, it is possible to obtain confirmation from the reception platform that the cables detected are recovery cables.

FIG. 3 illustrates a reception platform provided for recovering the AUV 100 as described with reference to FIGS. 1 and 2 .

In the illustrated example the reception platform is disposed on a ship 200.

The reception platform comprises a first cable 230 and a second cable 232, forming the aforementioned reception cables and which are configured to be immersed in the water and/or extracted from the water when the ship is at sea.

The cables 230, 240 each comprise at their ends a retaining member 240, 242.

These retaining members 240, 242 are for example each formed by ballast, that is to say a weight.

The cables 230 and 232 are respectively linked to a winch mechanism comprising winches 220 and 210 configured to wind the cables 230 and 232 in and out.

The winches 220, 210 are configured vary the deployed length of the cables 230, 232 and thereby enable them to be immersed more deeply in the water or to be extracted from the water.

The ship 200 further comprises a geolocation and navigation system 260 and a bearing measurement unit 270, in particular to guide it in the direction of the AUV 100 in order to recover it.

The ship 200 also comprises a second control unit (not shown) configured to actuate the winches 220, 210 in order to extract the cables 230, 232 or plunge them into the water by winding them in or out.

The first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b of the AUV 100 are configured to come into engagement with the cables 230 and 232 of the reception platform when they are immersed in the water.

To remove the AUV 100 from the water, the winches 220 and 210 are actuated in order to reduce the length of the cables 230 and 232.

The retaining members 240 and 242 then cooperate with some of the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b by coming into stopped engagement against the pincer members closed around the cables 230 and 232, and the AUV 100 may then be raised progressively towards the reception platform.

To synchronize the actuation of the winches 220 and 210 by the second control unit with the actual closing of the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b around the cables 230 and 232, and in general with the actuation of the detection and guide members of the AUV 100, the reception platform further comprises a communication unit (not shown) configured to exchange information with the communication unit of the AUV 100.

As a variant, the reception platform may comprise more than two recovery cables.

In order to enable the AUV 100 to be raised stably, the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b are disposed here on opposite sides and fore and aft on the AUV 100.

To facilitate the taking of the cables 230 and 232, the winches 220, 210 are spaced by a distance defined along the axis 280 a of the reference frame 280 of FIG. 3 that here is the distance between the pair of first pincer members and the pair of second pincer members.

The winches 220, 210 are spaced by a distance defined along the axis 280 c that is substantially equal to the greatest length of the hull 160, that is to say the maximum dimension of the hull in a cross-section transverse to the longitudinal axis 150.

As a variant, the reception platform may be disposed at any other location, for example such as on a wharf in a harbor.

A method of implementing the reception system formed by the AUV and the reception platform is described with reference to FIGS. 3 to 6 .

FIGS. 3 and 4 illustrate a recovery system 300 in a first configuration in which the cables 230 and 232 are deployed and the first additional pincer member 132 b and the second pincer member 130 a of the AUV 100 are in engagement with the cables 232 and 230.

The pair of first pincer member and additional pincer member 132 a, 132 b is actuated into closed position. For hydrodynamic reasons, the pair of second pincer member and additional pincer member 130 a, 130 b are also in closed position.

By virtue of the frontward sonar device 140, the AUV 100 detects the presence of the cables 230 and 232.

To ensure detection of the cables 230 and 232, the AUV 100 can, through utilization of its communication unit, confirm the presence of the reception platform.

For example, in response to a validation request from the AUV 100, the reception platform can supply information relative to its position.

The first control unit of the guide member of the AUV 100 pilots and guides the AUV 100 towards these cables 230 and 232 so as to become positioned aligned with them in the direction 380 a, indicated on the reference frame of FIG. 4 .

Once positioned in alignment with these cables, the AUV 100 passes near the first cable encountered, here the cable 230, in order for that cable to pass along the hull 160, either to port or to starboard.

In the example illustrated, the AUV 100 is guided such that the cable 230 passes to port.

Through utilization of the detection member, in particular cable detectors near the first pair of pincer members, the first control unit is configured to determine and/or confirm which side of the AUV 100 that cable 230 is located at.

Once this has been confirmed, the first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b are actuated into open position.

Only the pincer members involved in the recovery method may be selectively actuated to be disposed in open position.

The AUV 100 then continues its navigation in the direction of the cable 232, so as to pass it on the opposite side to that where cable 230 is disposed.

In the illustrated example, the AUV 100 is guided to navigate in the direction of the cable 232 in order for it to pass to starboard.

In similar manner, the AUV 100 is guided in order for cable 232 to be conveyed along the hull to starboard, in order to come inside the first additional pincer member 132 b which is open.

The cable 230 passes along the hull to port in order to be accommodated inside the second pincer member 130 a which is open.

The first and second pincer members and additional pincer members 130 a, 130 b, 132 a, 132 b are then actuated to be put into closed position.

If only the first additional pincer member and the second pincer member 130 a and 132 b have been actuated, they are selectively actuated to be put into closed position.

As a variant, when the AUV only comprises a first pincer member on the nose and a second pincer member on the tail of the AUV, the method differs in that it navigates such that the first cable encountered passes to the side at which the second pincer member is located, for example by sliding along the lateral part of the hull on which is arranged the second pincer member.

The confirmation that the cable indeed passes to same side as the lateral part of the hull where the second pincer member is located may be obtained through utilization of cable detectors, either by the lack of cable detection on the same side as the first pincer member or by the detection of the cable on the opposite side to the first pincer member.

Still as a variant, when the AUV comprises a boom, the method may comprise an additional step which is the actuation of the boom.

Further to the detection of the cables by the detection member, the AUV is guided by the first control unit to navigate in the direction of the cables.

The method comprises the step of actuating the boom to position it either to port or to starboard and thus force the cable to pass on the opposite side of the boom.

The boom may also be actuated when the AUV heads in the direction of the second cable in order to ensure that it passes on the opposite side to that where the first cable passed.

In the first configuration illustrated in FIGS. 4 and 5 , the AUV 100 may in particular send confirmation to the reception platform indicating that it is ready to be recovered.

The winches 210, 220 are then actuated to wind in the cables 230 and 232 so as to reduce the deployed length thereof, as indicated by the arrows 310.

Thus, the cables 230 and 232 are progressively wound in until the recovery system is in the configuration illustrated in FIGS. 6 and 7 .

When the retaining members 240, 242 are in stopped engagement against the first additional pincer member 132 b and the second pincer member 130 a of the AUV 100 the action of the winches via the cables enables the AUV 100 to be removed progressively from the water.

It will be noted that the recovery system may also be re-used to place the AUV 100 in the water.

For this, once the reception platform has been disposed in an area for placing in the water, the winches are activated through utilization of the control unit to wind out the cables progressively and immerse the AUV.

Once it is at the desired depth for launch, which may be indicated by the reception platform of the AUV through utilization of the communication units, the control unit of the AUV actuates the pincer members in order to open them.

The guide member may then guide the AUV to extract the cables from the pincer members, for example through various maneuvers.

It should be noted more generally that the disclosure is not limited to the examples described and represented. 

What is claimed is:
 1. An autonomous underwater vehicle comprising a hull extending along a main longitudinal axis and at least one first pincer member disposed towards a forward end of the hull, characterized in that it further comprises a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, said first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the respective cables.
 2. The autonomous underwater vehicle according to claim 1, wherein the guide member comprises a control unit configured to receive output signals from the detection member and to actuate the guide member to guide the vehicle towards the cables detected by the detection member, and also to actuate the first and second pincer members individually according to the guidance of the vehicle.
 3. The autonomous underwater vehicle according to claim 1, comprising a boom disposed projecting from the forward end of the hull, said boom being movable and controllable, through utilization of the guide member, between a first port position and a second starboard position and configured to guide at least one of the cables.
 4. The autonomous underwater vehicle according to claim 1, wherein the first pincer member is associated with a first additional pincer member, forming a first pair of pincer members, said first additional pincer member being disposed towards the forward end of the hull, the first pincer member and the first additional pincer member being disposed on opposite sides of the longitudinal axis, the second pincer member is associated with a second additional pincer member, forming a second pair of pincer members, said second additional pincer member being disposed towards the aft end of the hull, the second pincer member and the second additional pincer member being disposed on opposite sides of the longitudinal axis, and the guide member is configured such that at least one of the first pincer member and the first additional pincer member, and respectively the at least one second pincer member and the second additional pincer member, come into engagement with one of the respective cables.
 5. The autonomous underwater vehicle according to claim 1, wherein the detection member comprises a frontward sonar device disposed towards the forward end of the hull and configured to detect at least one of the cables upstream of the forward end of the hull of the vehicle.
 6. The autonomous underwater vehicle according to claim 1, wherein the detection member comprises at least one cable detector disposed near the first pincer member and configured to detect at least one of the cables near at least one of the first and second lateral parts of the hull the vehicle, towards its forward end.
 7. A recovery system comprising an autonomous underwater according to claim 1 and a reception platform which comprises a first cable (230) and a second cable each having, at a free end, a retaining member, a winch member configured to wind in and out the first cable and the second cable, said first and second pincer members being configured to come into engagement with said first and second cables and cooperate with the retaining members.
 8. The recovery system according to claim 7, wherein the reception platform comprises a second control unit configured to actuate the winch mechanism.
 9. The recovery system according to claim 7, wherein the reception platform and the underwater vehicle each comprise a communication unit configured to synchronize the actuation of the detection and guiding members and the actuation of the winch mechanism.
 10. The recovery system according to claim 7, wherein the reception platform is carried on the ship.
 11. A method of implementing a recovery system according to claim 7, comprising the following navigation steps: detecting, through utilization of the detection member, the at least one of the first cable and of the second cable of the reception platform; guiding the underwater vehicle, through utilization of the guide member, towards the first cable in alignment with the first cable and the second cable so as to convey the first cable along one of the first and second lateral parts of the hull of the vehicle; actuating each one of the first pincer member and the second pincer member into open position; guiding the underwater vehicle, through utilization of the guide member, towards the second cable so as to convey the second cable along the other lateral part of the hull of the vehicle, such that the first cable becomes accommodated in the second pincer member which is open and such that the second cable becomes accommodated in the first pincer member which is open; actuating each one of the first pincer member and the second pincer member into closed position; actuating the winch mechanism to wind in the cables such that the retaining members come to bear against the first and second pincer members.
 12. The method according to claim 11, wherein, when guiding towards the first cable, the step of guiding the underwater vehicle through utilization of the guide member to convey the first cable along the second lateral part of the hull on an opposite side to the first lateral part of the hull on which is disposed the first pincer member; and when guiding towards the second cable, the step of guiding the underwater vehicle through utilization of the guide member to convey the second cable near to the first pincer member.
 13. The method according to claim 11, wherein the recovery system comprises a first pincer member associated with a first additional pincer member, forming a first pair of pincer members, said first additional pincer member being disposed towards the forward end of the hull, the first pincer member and the first additional pincer member being disposed on opposite sides of the longitudinal axis, a second pincer member associated with a second additional pincer member, forming a second pair of pincer members, said second additional pincer member being disposed towards the aft end of the hull, the second pincer member and the second additional pincer member being disposed on opposite sides of the longitudinal axis, the guide member being configured such that at least one of the first pincer member and the first additional pincer member, and respectively the at least one second pincer member and the second additional pincer member, come into engagement with one of the cables, the method may comprise the steps of: actuating the first pair of pincer members of the underwater vehicle into closed position, before detecting the cables; when guiding towards the first cable, detecting the presence of the first cable near one of the first and second lateral parts of the hull; when actuating the first and second pincer members into open position, actuating the first and second additional pincer members of the submarine vehicle into open position; when guiding towards the second cable, guiding the underwater vehicle through utilization of the guide member to convey the other cable near the pincer member of the first pair of pincer members disposed on the lateral part near which the first cable has not been detected. when actuating the first and second pincer members into closed position, actuating the first and second additional pincer members of the submarine vehicle into closed position.
 14. The method according to claim 11, wherein the guide member comprises a boom disposed projecting towards the forward end of the hull of the vehicle, said boom being movable between a first port position and a second starboard position and configured to guide at least one of the cables and the method comprises the steps of: when guiding towards the first cable, guiding the underwater vehicle through utilization of the guide member to actuate the boom to move the first cable towards the second lateral part; when guiding towards the second cable, guiding the underwater vehicle through utilization of the guide member to actuate the boom to move the second cable towards the first lateral part.
 15. The method according to claim 11, wherein the guide member comprises a boom disposed projecting towards the forward end of the hull of the vehicle, said boom being movable between a first port position and a second starboard position and configured to guide at least one of the cables and the method comprises the steps of: when guiding towards the second cable, guiding the underwater vehicle through utilization of the guide member to actuate the boom to move the second cable towards the lateral part near which the first cable has not been detected; detecting, through utilization of the detection member, a recovery cable of the reception platform; actuating the pincer member of the underwater vehicle from the closed position towards the open position of the pincer member; guiding the underwater vehicle, through utilization of the guide member, towards the recovery cable in order for the recovery cable to become accommodated in the open pincer member; actuating the pincer member of the underwater vehicle from the open position towards the closed position; actuating the winch mechanism to raise the underwater vehicle. 